CN102951150B - The lane using ultrasonic sensor keeps aid system and method thereof - Google Patents
The lane using ultrasonic sensor keeps aid system and method thereof Download PDFInfo
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- CN102951150B CN102951150B CN201210298954.6A CN201210298954A CN102951150B CN 102951150 B CN102951150 B CN 102951150B CN 201210298954 A CN201210298954 A CN 201210298954A CN 102951150 B CN102951150 B CN 102951150B
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- 238000000034 method Methods 0.000 title claims description 19
- 238000002604 ultrasonography Methods 0.000 claims description 5
- 230000000052 comparative effect Effects 0.000 claims description 4
- 238000012360 testing method Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 description 5
- 208000035278 mandibuloacral dysplasia progeroid syndrome Diseases 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
- B60W2510/202—Steering torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/10—Path keeping
- B60Y2300/12—Lane keeping
Abstract
The present invention is by applying flexibly that export in ultrasonic sensor and between side object range information signal, it is possible to judge the whether unidentified of image sensor in part running environment, thus makes more strong LKAS control to become possibility。
Description
Technical field
The present invention is that one relates to lane maintenance aid system and method thereof, relates to a kind of lane using ultrasonic sensor in more detail and keeps aid system and method thereof。
Background technology
Lane keeps aid system (LaneKeepingAssistSystem:LKAS) to be the lane information by providing from the lane detection video camera being arranged on vehicle and vehicle position information, generate steering torque, make vehicle without departing from the system of the assisting vehicle travel of lane。
The error amount that conventional LKAS is steering torque auxiliary quantity and the vehicle location in road utilizing and being communicated to column assist system (MDPS:MotorDrivenPowerSteeringSystem) corrects traveling in the position of road vehicle。Namely, conventional LKAS is received lateral separation between the vehicle and lane passed on by the video camera that is arranged on vehicle, travels angular error and calculate to make vehicle without departing from the assisted diversion moment of torsion of lane, is undertaken exporting by described MDPS by the assisted diversion moment of torsion calculated and assists vehicle keep present lane and travel。
But, such as conventional LKAS, when only using the single-sensor detection lane being made up of video camera, it is possible to can because image sensor do not detect or error detection and calculate the auxiliary torque of mistake。When being corrected the position of vehicle by the auxiliary torque of mistake, it is possible to driver can be made to feel heterogeneous sense。
Additionally, correct in the conventional LKAS of lane at the single-sensor only using video camera to constitute, occur continually backlight, gateway, tunnel, guardrail the specific vehicle-surroundings environment such as shade under as described in the detection of the mistake such as unidentified of video camera。
Summary of the invention
(solving the technical problem that)
Therefore, it is an object of the invention to provide a kind of lane using ultrasonic sensor to keep aid system to reduce using the lane being constituted single-sensor by video camera and occur to correct mistake。
Another object of the present invention is to provide a kind of lane keeping method using ultrasonic sensor to reduce uses the lane being constituted single-sensor by video camera and occur to correct mistake。
(solving the means of problem)
In order to reach purpose as above, keep aid system according to the lane using ultrasonic sensor of present invention one side, including: image sensor portion, shooting vehicle front also generates Front image；Lane identification judging part, it is judged that whether include described lane in described Front image；Tunnel judging part, the judged result of described lane identification part, if described Front image does not include described lane, utilize the testing result of ultrasonic sensor to judge whether to enter tunnel；Lane estimates portion, the judged result of described tunnel judging part, if it is determined that when described vehicle travels in tunnel, utilize the distance that measured and between tunnel-side distance is estimated between lane by described ultrasonic sensor；Controlling torque-calculating section, the end value estimated by the lane portion of estimating is calculated and controls moment of torsion；And steering torque compensation section, the steering torque controlling to calculate in moment of torsion and column assist system calculated described in addition, calculate the steering torque compensated to control described Vehicular turn。
The lane keeping method using ultrasonic sensor according to another side of the present invention, including: by the Front image that the video camera of vehicle obtains judges whether to identify the step of lane；According to the described judged result whether identifying lane, ultrasonic sensor is utilized to judge whether to enter the step in tunnel；According to whether enter the judged result in tunnel, if it is determined that when described vehicle travels in tunnel, utilize ultrasonic sensor to estimate the step of lane spacing；The step controlling moment of torsion is calculated by the end value of the distance between the described lane estimated；And the steering torque controlling to calculate in torque compensation column assist system calculated described in utilizing, the described vehicle course changing control step without departing from the described vehicle of lane will be made based on the steering torque of compensation。
The lane keeping method using ultrasonic sensor of the present invention, it is characterised in that described in judge whether that the step entering tunnel includes: the ultrasound wave of described ultrasonic sensor is with the step delivered letters from the two sides of vehicle of cycle of regulation；Delivered letters from the two sides of described vehicle the time that the moment reflecting and collecting mail consumes by the described ultrasound wave delivered letters, calculate the step of distance value between the side object of described vehicle；The comparison step of the described distance value calculated and reference value；And judge whether described vehicle enters the step in tunnel according to described comparative result。
Additionally, the lane keeping method using ultrasonic sensor of the present invention, it is characterised in that described judge whether vehicle enters the step in tunnel and be when the described distance value calculated is less than described reference value, it is judged that described vehicle enters in described tunnel。
In addition, the lane keeping method using ultrasonic sensor of the present invention, it is characterized in that, described in calculate distance value between the side object of vehicle step after, more include: whether the distance value calculated described in judgement is maintained within the scope of datum drift within fiducial time。
In addition, the lane keeping method using ultrasonic sensor of the present invention, it is characterised in that described judge in the step whether vehicle enters tunnel, if described in the distance value that calculates when not keeping within the scope of datum drift within fiducial time, it is judged that described vehicle is introduced in tunnel。
In addition, the lane keeping method using ultrasonic sensor of the present invention, it is characterized in that, more include: measure the step of the brightness of described vehicle-surroundings, described judge vehicle whether enter the step in tunnel be utilize described in the periphery brightness of the distance value that the calculates comparative result with reference value and described measurement, it is judged that whether described vehicle enters tunnel。
(effect of invention)
The lane using ultrasonic sensor according to the present invention keeps aid system, utilizes ultrasonic sensor to judge whether entry/exit tunnel, thus improves not detecting or error detection of the video camera that possesses in LKAS system。
In addition, when the vehicle being equipped with intelligent parking aid system (SPAS:SmartParkingAssistSystem) is applied the lane maintenance system of the present invention, the ultrasonic sensor that vehicle itself possesses can be utilized, thus when realizing system, the separate hardware such as ultrasonic sensor can be added, only by the design of software mode, it is not necessary to add the extra charge needed for hardware, therefore there is very big fee cut effect。
Accompanying drawing explanation
Fig. 1 indicates that the lane using ultrasonic sensor according to one embodiment of the invention keeps the block diagram of aid system Inner Constitution。
Fig. 2 indicates that the flow chart of the lane keeping method using ultrasonic sensor according to one embodiment of the invention。
Detailed description of the invention
It is described in detail according to one embodiment of the invention with reference to the accompanying drawings。Needing to pay attention to during reference marks additional for the element in each figure, although showing in various figures about identical element, but making it have identical symbol as far as possible。Additionally, for the explanation of embodiments of the invention, when judge to think to relevant well-known composition or function illustrate may obscure main idea of the present invention time, description is omitted。
Fig. 1 indicates that the lane using ultrasonic sensor according to one embodiment of the invention keeps the block diagram of aid system Inner Constitution。
With reference to Fig. 1, the car using ultrasonic sensor according to one embodiment of the invention all keeps aid system 100 different with the conventional system of the single-sensor identifying rows fare that utilization is only made up of image sensor, also utilize described ultrasonic sensor to identify described lane except described image sensor, and control the traveling of vehicle to make it keep the lane identified。
For this, the lane using ultrasonic sensor according to one embodiment of the invention keeps aid system 100 to generally include: lane identification judging part 103, tunnel judging part 105, ultrasonic sensor 107, lane are estimated portion 109 and control torque-calculating section 111, more include in addition: image sensor portion 101, steering (MDPS:MotorDrivenPowerSteeringSystem) 113。
First, described image sensor portion 101, as the front of shooting vehicle, generates the composition of the Front image including lane shown on travel, and described lane identification judging part 103 can be made up of the image sensor exporting described Front image。
Described lane identification judging part 103 conduct, judge the composition that whether there is described lane (or whether unidentified) in the described Front image of described image sensor portion 101 input, using described lane as object extraction from described Front image, the pixel value of the pixel coordinate of corresponding extracted object is utilized to judge whether lane。Such as, when the summation of the pixel value corresponding to described lane object is less than reference value, it is judged that in described Front image unidentified go out lane, the form that this judged result is converted to signal or information exports described tunnel judging part 105。
Described tunnel judging part 105, if by described lane identification judging part 103 to be judged as in described Front image unidentified go out lane time, it is judged that whether vehicle is travel in tunnel now。For this, described tunnel judging part 105 utilizes the testing result of described ultrasonic sensor 107 to judge whether described vehicle travels in tunnel。Specifically, transmit with specified period from described ultrasonic sensor 107 in the two sides of vehicle。If now vehicle is to travel when tunnel internal, deliver letters in the described vehicle sidewall of described tunnel internal of the ultrasound wave found in the two sides of described vehicle reflects and collects mail。Now, by the distance value reflecting the time that the moment got into the frame of mind for work consumes again and calculating between the Measuring Object of described vehicle。By whether vehicle described in the multilevel iudge between the reference value of this distance value calculated and regulation enters tunnel。Such as, when the distance value calculated described in is less than described reference value, it is judged that enter tunnel for described vehicle。Now, it is not possible to simple only by the described distance value calculated less than described reference value the fact judge that described vehicle travels now at tunnel internal。Because, although it is in a flash, but is likely to the ultrasonoscope reflected by the certain objects of such as guardrail in way that travels at vehicle and calculates distance value。Therefore to it is more accurate, consider the running time of tunnel internal, described in the distance value that calculates less than described reference value, detect less than described reference value described in the distance value that calculates within the scope of datum drift, when being maintained at more than fiducial time, it is judged that for entering the state in tunnel。In order to better improve reliability, the periphery brightness value detected by the luminance sensor itself possessed in vehicle additionally can be utilized。That is, when described brightness value is below Benchmark brightness value, it can be determined that vehicle is travel at tunnel internal now。
Lane estimates portion 109, the judged result according to described tunnel judging part, if it is determined that when described vehicle travels in tunnel, utilize the distance value to tunnel-side measured to by described ultrasonic sensor 107 to estimate the distance between lane。
Controlling torque-calculating section 111, the estimation results value estimating portion 109 according to described lane calculates control moment of torsion, and the control moment of torsion calculated is sent to steering torque compensation section 115。
Steering torque compensation section 115 conduct, calculate the composition correcting steering torque being corrected to make vehicle maintenance lane in tunnel, plus the steering torque calculated from the control moment of torsion calculated described in the transmission of described control torque-calculating section 111 and column assist system (MDPS) 113, it can be used as in order to the correction steering torque controlling described Vehicular turn exports。
Vehicle, by receiving the correction steering torque from the output of described steering torque compensation section 115, is carried out motor control by motor 117 in tunnel。
Fig. 2 indicates that the flow chart of the lane keeping method using ultrasonic sensor according to one embodiment of the invention, in order to contribute to the understanding illustrated, it is possible to reference together with Fig. 1。
With reference to Fig. 2, obtain Front image S210 by the image sensor being arranged on vehicle。
Afterwards, by the composition of such as above-mentioned lane identification judging part 103, to the Front image obtained by the video camera of vehicle judging whether identify lane S220。
The described judged result whether identifying lane, if unidentified go out time (unidentified lane), utilize ultrasonic sensor judge whether enter tunnel S230。Step if identify lane, before returning to step S210, after performing in order。
Afterwards, according to the described judged result whether entering tunnel, if it is determined that when travelling in tunnel, utilize described ultrasonic sensor to estimate the distance S240 between lane, calculate according to the distance between the described lane estimated and control moment of torsion S250。
Additionally, the steering torque controlling to calculate in torque compensation column assist system calculated described in utilizing, turning to of described vehicle will be controlled based on the steering torque of compensation, make described vehicle without departing from lane S260。
As it has been described above, only consider in conventional LKAS system that the signal of image sensor is to extract road information, consequently, because the inaccuracy of image pickup signal and causing is lost lane or guardrail etc. is identified as lane in travelling, the MDPS carrying out mistake in computation controls moment of torsion。
But, in the present invention, because having applied flexibly that export in ultrasonic sensor and between side object range information signal, in part running environment, may determine that the whether unidentified of image sensor, thus making more strong LKAS control to become possibility。
Description above is only schematically illustrate the technological thought of the present invention, and general technical staff of the technical field of the invention should be appreciated that when without departing from the own job characteristic range of the present invention, it is possible to achieve multiple amendment and deformation。Being opened the embodiment shown in the present invention is to illustrate, rather than in order to limit the technological thought of the present invention, the scope of the technological thought of the present invention is not limited to such embodiment。The real technical protection scope of the present invention should be determined by appending claims, it should is construed to belong to all technological thoughts in its equivalents in the interest field of the present invention。
Claims (7)
1. use a lane keeping method for ultrasonic sensor, including:
By the Front image that the video camera of vehicle obtains judges whether to identify the step of lane；
According to the described judged result whether identifying lane, ultrasonic sensor is utilized to judge whether to enter the step in tunnel；
According to whether enter the judged result in tunnel, if it is determined that when described vehicle travels in tunnel, utilize ultrasonic sensor to estimate the step of lane spacing；
The step controlling moment of torsion is calculated by the end value of the distance between the described lane estimated；And
The steering torque controlling to calculate in torque compensation column assist system calculated described in utilization, will make the described vehicle course changing control step without departing from the described vehicle of lane based on the steering torque of compensation。
2. the lane keeping method of use ultrasonic sensor according to claim 1, it is characterised in that described in judge whether enter tunnel step include:
The step that the ultrasound wave of described ultrasonic sensor was delivered letters from the two sides of vehicle with the cycle of regulation；
Delivered letters from the two sides of described vehicle the time that the moment reflecting and collecting mail consumes by the described ultrasound wave delivered letters, calculate the step of distance value between the side object of described vehicle；
The comparison step of the described distance value calculated and reference value；And
Judge whether described vehicle enters the step in tunnel according to comparative result。
3. the lane keeping method of use ultrasonic sensor according to claim 2, it is characterised in that
Described judge whether vehicle enters the step in tunnel and be when the described distance value calculated is less than described reference value, it is judged that described vehicle enters in described tunnel。
4. the lane keeping method of use ultrasonic sensor according to claim 2, it is characterised in that
After the step of the distance value between the described side object calculating vehicle, more include: whether the distance value calculated described in judgement is maintained within the scope of datum drift within fiducial time。
5. the lane keeping method of use ultrasonic sensor according to claim 4, it is characterised in that
Described judge in the step whether vehicle enters tunnel, if described in the distance value that calculates when not keeping within the scope of datum drift within fiducial time, it is judged that described vehicle is introduced in tunnel。
6. the lane keeping method of use ultrasonic sensor according to claim 2, it is characterised in that more include:
Measure the step of the brightness of described vehicle-surroundings；
Described judge vehicle whether enter the step in tunnel be utilize described in the periphery brightness of the distance value that the calculates comparative result with reference value and described measurement, it is judged that whether described vehicle enters tunnel。
7. the lane using ultrasonic sensor keeps an aid system, including:
Image sensor portion, shooting vehicle front also generates Front image；
Lane identification judging part, it is judged that whether include described lane in described Front image；
Tunnel judging part, the judged result of described lane identification part, if described Front image does not include described lane, utilize the testing result of ultrasonic sensor to judge whether to enter tunnel；
Lane estimates portion, the judged result of described tunnel judging part, if it is determined that when described vehicle travels in tunnel, utilize the distance that measured and between tunnel-side distance is estimated between lane by described ultrasonic sensor；
Controlling torque-calculating section, the end value estimated by the lane portion of estimating is calculated and controls moment of torsion；And
Steering torque compensation section, the steering torque controlling to calculate in moment of torsion and column assist system calculated described in addition, calculate the steering torque compensated to control described Vehicular turn。
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2011-0085108 | 2011-08-25 | ||
| KR1020110085108A KR20130022527A (en) | 2011-08-25 | 2011-08-25 | Lane keeping assist system using ultrasonic sensor and method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102951150A CN102951150A (en) | 2013-03-06 |
| CN102951150B true CN102951150B (en) | 2016-06-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210298954.6A Active CN102951150B (en) | 2011-08-25 | 2012-08-21 | The lane using ultrasonic sensor keeps aid system and method thereof |
Country Status (2)
| Country | Link |
|---|---|
| KR (1) | KR20130022527A (en) |
| CN (1) | CN102951150B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101632179B1 (en) * | 2013-12-24 | 2016-07-01 | 엘지전자 주식회사 | Driver assistance apparatus and Vehicle including the same |
| CN109353339B (en) * | 2018-09-29 | 2020-06-26 | 中国铁建重工集团股份有限公司 | Vehicle navigation method and system |
| KR102628125B1 (en) * | 2019-06-28 | 2024-01-23 | 남양넥스모 주식회사 | Rack force compensation logic and method in sbw system |
| CN110861643A (en) * | 2019-10-18 | 2020-03-06 | 中国第一汽车股份有限公司 | Unmanned vehicle one-way tunnel passing method and unmanned vehicle |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101403622A (en) * | 2008-11-10 | 2009-04-08 | 徐菲 | Implementing ultrasonic wave positioning, navigation and ultrasonic wave loudspeaker of running vehicle |
| CN101482415A (en) * | 2008-01-09 | 2009-07-15 | 中华联合多频道股份有限公司 | Intelligent station name reporting method |
| CN101837780A (en) * | 2009-03-18 | 2010-09-22 | 现代自动车株式会社 | A lane departure warning system using a virtual lane and a system according to the same |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09205645A (en) * | 1996-01-29 | 1997-08-05 | Fujitsu Ten Ltd | Device for recognizing environment in forward direction |
| JP2004230963A (en) * | 2003-01-29 | 2004-08-19 | Calsonic Kansei Corp | Tunnel detecting method for vehicle, tunnel detecting device for vehicle, and vehicle controller using tunnel detecting device |
-
2011
- 2011-08-25 KR KR1020110085108A patent/KR20130022527A/en not_active Application Discontinuation
-
2012
- 2012-08-21 CN CN201210298954.6A patent/CN102951150B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101482415A (en) * | 2008-01-09 | 2009-07-15 | 中华联合多频道股份有限公司 | Intelligent station name reporting method |
| CN101403622A (en) * | 2008-11-10 | 2009-04-08 | 徐菲 | Implementing ultrasonic wave positioning, navigation and ultrasonic wave loudspeaker of running vehicle |
| CN101837780A (en) * | 2009-03-18 | 2010-09-22 | 现代自动车株式会社 | A lane departure warning system using a virtual lane and a system according to the same |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102951150A (en) | 2013-03-06 |
| KR20130022527A (en) | 2013-03-07 |
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